2023-12-17 16:11:35 +08:00
|
|
|
|
#ifndef GARAGE
|
|
|
|
|
|
#define GARAGE
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
enum garage_type_e {
|
|
|
|
|
|
GARAGE_NONE, // 非车库模式
|
2024-01-13 18:20:39 +08:00
|
|
|
|
GARAGE_FOUND,
|
2023-12-17 16:11:35 +08:00
|
|
|
|
GARAGE_OUT_LEFT,
|
|
|
|
|
|
GARAGE_OUT_RIGHT, // 出库，陀螺仪转过45°，即出库完毕
|
|
|
|
|
|
GARAGE_FOUND_LEFT,
|
|
|
|
|
|
GARAGE_FOUND_RIGHT, // 发现车库，即斑马线+单侧L角点(未使用)
|
|
|
|
|
|
GARAGE_IN_LEFT,
|
|
|
|
|
|
GARAGE_IN_RIGHT, // 进库，发现车库后判断第几次，从而决定是否进库
|
|
|
|
|
|
GARAGE_PASS_LEFT,
|
|
|
|
|
|
GARAGE_PASS_RIGHT, // 不进库，发现车库后判断第几次，从而决定是否进库
|
|
|
|
|
|
GARAGE_STOP // 进库完毕，停车
|
|
|
|
|
|
};
|
|
|
|
|
|
extern enum garage_type_e garage_type;
|
|
|
|
|
|
|
|
|
|
|
|
float calculate_vector_angle(float x1, float y1, float x2, float y2);\
|
|
|
|
|
|
void CheckGarage(void);
|
|
|
|
|
|
void RunGarage(void);
|
|
|
|
|
|
|
|
|
|
|
|
#endif /* COMMON_H_ */
|
